Instruments

ABSTRACT

An instrument including an elongate portion having a first part movable from a first configuration to a second, different configuration and a second part, at a different elongate extent along the elongate portion than the first part, movable from a first configuration to a second, different configuration, at least one of the parts including a control whereby a force required to move the first part from the first configuration towards the second configuration is less than the force required to move the second part from the first configuration towards the second configuration. A method of using the instrument.

CROSS-REFERENCE TO RELATED APPLICATION

This Application claims priority to GB 1003516.0 filed Mar. 3, 2010 andentitled “INSTRUMENTS”, the contents of which are incorporated byreference herein.

TECHNICAL FIELD AND BACKGROUND OF THE INVENTION

The present invention relates to instruments and to surgical instrumentsand a method of controlling such instruments. The invention isparticularly applicable to endoscopic surgical instruments.

The present invention also relates to an instrument incorporating atool, a method of effecting an operation including a tool, an instrumentincluding an elongate portion and a method of operating an instrumentincluding an elongate portion.

The present invention is particularly, although not exclusively relevantto instruments and methods for examining ceramic tiles on turbines.

A problem with inspecting ceramic tiles on turbines is that the turbineis out of commission for a long time. That is partly because of theperiod that it takes for the turbine to cool down and partly because ofthe time taken to inspect the many tiles without contacting the tiles.

GB 2 475 746 discloses a method for inspecting the blades of a turbineengine.

EP 0 623 004 discloses a surgical instrument comprising a retractor.

It is an object of the present invention to attempt to overcome at leastone of the above or other disadvantages.

BRIEF SUMMARY OF THE INVENTION

According to one aspect of the present invention an instrument includingan elongate portion having a first part movable from a firstconfiguration to a second, different configuration and a second part, ata different elongate extent along the elongate portion than the firstpart, movable from a first configuration to a second, differentconfiguration, at least one of the parts including a control whereby aforce required to move the first part from the first configurationtowards the second configuration is less than the force required to movethe second part from the first configuration towards the secondconfiguration.

According to another aspect of the present invention an instrumentincluding an elongate portion having:

a first part movable from a first to a second different configurationand

a second part at a different elongate extend along the elongate portionthan the first part movable from a first to a second, differentconfiguration, at least one of the parts including a control, saidcontrol including a flexible member arranged to exert a bias againstmovement of the part that includes that control from the first to thesecond position, said control operating such that

a force required to move the first part from the first configurationtowards the second configuration is less than the force required to movethe second part from the first configuration towards the secondconfiguration and such that

the second part is arranged to start to move from the secondconfiguration towards the first configuration at a greater force thanthe force required to allow the first part to start to move from thesecond configuration towards the first configuration,

the instrument further including an actuator, said actuator beingarranged to urge said first and second parts from the first to thesecond positions, the actuator comprising at least one wire extendingalong the elongate portion which wire extends along the elongate portionwhich wire is arranged to be tightened to effect movement of the partsfrom the first to the second configurations.

According to a further aspect of the present invention a method of usingan instrument comprising causing at least first and second parts of anelongate portion that are axially spaced from each other along theelongate portion to move from a first configuration to a second,different configuration and causing the first part to move from thefirst configuration towards the second configuration and then the secondpart to start to move from the first configuration towards the secondconfiguration by the first part being less resistant to a force causingmovement from the first configuration to the second configuration than aforce causing the second part to move from the first configurationtowards the second configuration.

DESCRIPTION OF THE FIGURES

FIG. 1 is a side view of a surgical instrument comprising a surgicalretractor 1 with an end 2 in a straight configuration;

FIG. 2 is a view of the end 2 of the retractor shown in FIG. 1 in astraight hook configuration;

FIG. 3 is a view of an end 2 of a retractor similar to that shown inFIG. 1 in an angled hook configuration;

FIG. 4 is a schematic perspective view of one of the segments 3 at theend 2 of the retractor shown in FIG. 1;

FIG. 5 is a front view of a first embodiment of a retractor;

FIG. 6 is a front view of a second embodiment of a retractor;

FIG. 7 is a perspective view of a third embodiment of a retractor;

FIG. 8 is a side view of a turbine 10 that is to be inspected;

FIGS. 9 to 13 are sectional views along the line A-A of FIG. 8 from theinitial insertion configuration of an instrument to a configuration inwhich the instrument finally ends up in for the inspection;

FIG. 14 is a perspective of the instrument;

FIG. 15 is a side view of a pair of segments 114 of the instrument;

FIG. 16 is a side view of the pair of segments 114 in a configurationfor inspection;

FIG. 17 is an end view of a segment 114;

FIG. 18 is a plan view of a segment 114;

FIG. 19 is a side view of the segments in the final, inspectionposition;

FIG. 20 is a side view of the camera;

FIGS. 21 a-i are sequential views showing how the configuration of FIG.7 is formed when the wire 10 is pulled;

FIGS. 22 a-i are sequential views showing how the configuration of FIG.7 is formed when the wire 10 is pulled when using control members;

FIG. 23 is a longitudinal cross-section of the instrument that can formthe shape of FIG. 7 and FIG. 24 is a detail of that figure;

FIG. 25 is a longitudinal cross sectional view of part of the instrumentshowing the wire 10 and the control member and FIG. 26 is cross-section22-26 of FIG. 25, and

FIGS. 27 a, b, c, d and e are sequential views showing hot an inspectioninstrument such as that shown in FIGS. 8 to 20 can be manipulated whenusing the control members.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows a retractor 1 having a handle 6 which is connected to theend 2 via a hollow rod 7. In use, with the end in the configurationshown in the drawing, the end 2 and part of the rod 7 are fed through atube in the abdominal wall. The surgeon is then able to manipulate theretractor by the handle 6 and change the configuration of the end 2 intothe straight hook shape shown in FIG. 2 by rotating a knurled actuatingnut 8.

The nut 8 is threadably connected to a screw member 9 whereby, when thenut 8 is rotated in a clockwise direction, looking from the free end ofthe handle, the screw member 9 is caused to move translationally awayfrom the end 2. A loop of wire 10 is connected at its free ends to themember 9, and both sides of the loop pass through openings 11 in eachsegment 3. Accordingly as the wire 10 moves further into the rod 7 thesegments are caused to tighten against each other.

As the segments 3 bear against each other they are caused to move out ofthe axial extent of the rod as the end faces 12 of each segment areformed at a slight angle to the perpendicular to the axis of the rod. InFIG. 1 the upwardly facing surfaces of each segment are parallel witheach other as are the downwardly facing surfaces. Accordingly adjacentfaces come into abutment with each other as the wire is tightened, andthey take up the configuration shown in FIG. 2 in which a straight,substantially rigid hook which subtends approximately 180° is formed.Accordingly in the position shown in FIG. 1, each face extends at anangle of approximately 10° to the axis of the tube.

In order for the segments to take up the shape shown in FIG. 3, in whicha substantially rigid hook which subtends approximately 180° in adirection generally at right angles to the axis of the rod, the face ofat least one of the segments is angled differently. For instance, whenthe end 2 is in the relaxed position and extends generally in line withthe axis of the rod 7, the uppermost segment faces the rod with a faceextending at 45° to the axis of the rod, and the rod may becorrespondingly angled at its end. Thus when the wire is tightened, thesegment adjacent to the rod is caused to turn through 90°. The remainingupper and lower faces of the other segments may be parallel to eachother in the configuration shown in FIG. 1 as previously described.

The hooks shown in FIGS. 2 and 3 can be used to displace or hold theorgans in the required position.

To release the segments from the configuration shown in FIG. 2 or 3 thenut 8 is rotated in the opposite direction to release the tension in thewire. The wire is sufficiently strong, and the distance between thesegments sufficiently small for the flexure of the wire to hold thesegments generally straight for ease of insertion or removal when thehook configuration is not required. As the wire is threaded through twoopenings in each segment the strength of the wire and the closeproximity of the segments prevents any significant relative turning ofthe segments around the longitudinal extent of the end 2.

The face of each segment which is caused to abut against another part ofthe retractor when in the hook configuration is formed with styrations13 which are parallel to each other and parallel to adjacent styrationssuch that co-operating faces do not tend to slip in a rotational ortranslational sense.

With such retractors the remote end includes an exposed end 20. Whenpushing tissue aside this end can cause trauma to the body, particularlythe liver. In addition there is inevitably some flexure in the segments.Such flexure causes the end section to have a reduced effect on pushingthe liver.

Furthermore, whilst it is relatively easy to achieve the configurationshown it can be difficult to effect more complicated configurations.

It is an object of the present invention to attempt to overcome at leastone of the above or other disadvantages.

According to one aspect of the present invention, an instrument, such asa surgical instrument for example, includes an elongate portionarranged, in use, to be inserted through a restricted opening into abody, the elongate portion being movable from a first configuration to asecond, different configuration in which second configuration two partsof the instrument that are spaced from each other in the firstconfiguration at least partially cross each other in secondconfiguration.

The parts may contact each other in the second configuration.

The parts may completely cross each other in the second configurationand may completely cross each other such that the instrument extendsover itself.

One of the parts may comprise an end region.

The parts may comprise parts that are spaced from the end region.

There may be at least two pairs of parts that are spaced from each otherin the first configuration and at least partially cross each other, atdifferent extents for the pairs, along the instrument in the secondconfiguration, and going along the elongate extent of the instrument,the first pair may cross on one side of the instrument with the secondpair also crossing on that side. There may be at least three pairs ofparts that are spaced from each other in the first configuration andthat at least partially cross each other at different extents, for thepairs, along the instrument in the second configuration and, going alongthe extent of the instrument, the first and second pairs may cross onthe same side with the third pair crossing on the opposite side.

The end region may include a portion that is movable to extend uptowards the location where the parts cross and down from the locationwhere the parts cross.

The instrument may include a rigid portion, which rigid portioncomprises at least one of the parts that at least partially cross eachother and a plurality of parts that cross each other may include therigid portion.

In the first configuration, the instrument extends in a common firstdirection and in which, in the second configuration part of theinstrument extends in a second direction which is opposed to the firstdirection and in the second direction, the one part of the instrumentmay be caused to extend back towards another part. In the secondconfiguration two spaced elongate extents of the instruments may bothextend at an angle to the first direction.

The instrument may include spaced joint regions that enable theinstrument to move from the first to the second configuration and thespaced joint regions may allow the instrument to cross itself at leasttwice in the second configuration. The joint regions may comprise aplurality of segments movable relative to each other to assist incausing the movement from the first to the second configurations.

The instrument may include first control means arranged to cause themovement from the first to the second configuration.

In the second configuration, the two parts may be biased towards eachother at the region where they at least partially cross each other.

The instrument may include a flexible member extending outside of theinstrument from the end region to a location spaced from the end regionand the flexible member may be arranged to assist in effecting movementfrom the first to the second configuration and the flexible member maybe arranged to be tensioned, initially, as movement from the firstconfiguration commences and subsequently to be slackened. The instrumentmay include second control means arranged to control the operation ofthe flexible member. The first and second control means may be arrangedto be coordinated to effect the movement from the first to the secondconfigurations.

In the second configuration, one previously spaced part of theinstrument may be arranged to be connected to another part of theinstrument and one part may comprise the end portion of the instrument.The connection may be arranged to be by means of a plug and socket. Theflexible member may be arranged to extend within the instrument and thenout of the instrument in the region of where the parts are arranged tobe connected and then to extend externally of the instrument to theother part that is to be connected whereby tensioning the flexiblemember is arranged to assist in effecting the connection.

According to another aspect of the present invention a method ofcontrolling a surgical instrument comprises causing an elongate portionto move from a first configuration in which two parts are spaced fromeach other to a second configuration in which those parts at leastpartially cross each other.

The method may comprise causing the instrument to move to a secondconfiguration in which the instrument crosses itself twice.

The present invention also includes a method of controlling aninstrument when the instrument is as herein described.

According to a further aspect of the present invention an instrumentincludes an elongate portion movable from a first configuration to asecond, different configuration, the instrument including a channelextending at least partially along the elongate extent of the instrumentand a tool located at least partially in the channel, the tool beingarranged to effect an operation at least one side of the instrument.

The operation may be arranged to be effected at more than one side.

The operation may be arranged to be effected at a location spaced fromthe distal end.

The operation may be arranged to be effected at a plurality of locationsalong the instrument and the tool may be arranged to be moved along thechannel to effect an operation at a plurality of locations and the toolmay be arranged to be advanced to effect an operation at a plurality oflocations and the tool may be arranged to be retracted to effect anoperation at a plurality of locations. The instrument may include acontrol arranged to move the tool along the channel and to effect theoperation.

The window may comprise an opening and the tool may be arranged toextend at least partially through the opening in the instrument toeffect the operation and the extent of the tool through the opening maybe variable. The tool may be arranged to project beyond the opening andthe orientation of the distal region of the tool may be is adjustablewhen extending at least partially through the opening.

At least the second configuration of the tool may be predetermined andthe elongate extent of the elongate portion may be moved to the secondconfiguration upon activation of a control member.

The instrument may comprise a turbine inspection instrument.

The tool may comprise a camera.

According to a further aspect of the present invention, a method ofeffecting an operation comprises altering the configuration of anelongate portion from a first configuration to a second configurationand effecting an operation at least one side of the elongate portionwith a tool located at least partly in a channel of the elongateportion.

The tool may be moved along the channel to effect the operation atdifferent elongate extents.

The tool may be moved to extend at least partially through an opening inthe elongate portion to effect the operation.

According to another aspect of the present invention a method ofeffecting an operation includes effecting that operation with aninstrument as herein referred to.

According to one aspect of the present invention a surgical instrumentincludes an elongate portion arranged, in use, to be inserted through arestricted opening into a body, the elongate portion being movable froma first configuration to a second, different configuration in whichsecond configuration two parts of the instrument that are spaced fromeach other in the first configuration at least partially cross eachother in second configuration.

According to a further aspect of the present invention a method ofcontrolling a surgical instrument comprises causing an elongate portionto move from a first configuration in which two parts are spaced fromeach other to a second configuration in which those parts at leastpartially cross each other.

The present invention also includes a method of performing surgery whenusing the instrument of the present invention or when controlling theinstrument of the present invention.

The first configuration may be a straight configuration.

According to one aspect of the present invention an instrument includesan elongate portion movable from a first configuration to a second,different configuration, the instrument including a channel extending atleast partially along the elongate extent of the instrument and a toollocated at least partially in the channel, the tool being arranged toeffect an operation at least one side of the instrument.

According to another aspect of the present invention a method ofeffecting an operation comprises altering the configuration of anelongate portion from a first configuration to a second configurationand effecting an operation at least one side of the elongate portionwith a tool located at least partly in a channel of the elongateportion.

According to a further aspect of the present invention an instrumentincludes an elongate portion movable from a first configuration to asecond, different configuration, the instrument including an operativemember attached to the elongate portion at a first location andincluding an extent external to the elongate portion, the operativemember, in use, being arranged to exert a force on the elongate portionto at least partially assist in causing the elongate portion to move atleast part of the way between the first and second configurations.

According to a still further aspect of the present invention a method ofoperating an instrument includes an elongate portion and an operativemember attached to the elongate portion, the operative member includingan extent external to the elongate portion the method comprisingexerting a force on the elongate portion thereby causing the elongateportion to move from the first configuration to a second, differentconfiguration.

According to another aspect of the present invention an instrumentincludes an elongate portion movable from a first configuration to asecond, different configuration, the elongate portion comprising aplurality of segments that are connected to each other by a connectionmeans and that are movable relative to each other whereby the elongateportion can move from the first to the second configuration, theconnection means comprising at least one pivot member acting as a hingebetween the segments.

According to a further aspect of the present invention a method ofconnecting a plurality of segments of an elongate instrument such thatthe segments can move from a first configuration to a second, differentconfiguration comprises using a pivot member to act as a hinge betweenthe segments.

According to another aspect of the present invention an instrumentincluding an elongate portion having a first part movable from a firstconfiguration to a second, different configuration and a second part, ata different elongate extent along the elongate portion than the firstpart, movable from a first configuration to a second, differentconfiguration, at least one of the parts including a control whereby aforce required to move the first part from the first configurationtowards the second configuration is less than the force required to movethe second part from the first configuration towards the secondconfiguration.

Both ends of the control are arranged to slide in the longitudinaldirection relative to the portions of the elongate member which arecoaxial with each end when the part that controls the moves from thefirst configuration towards the second configuration.

At least one end of at least one control may be prevented from slidingin the longitudinal direction relative to a portion of the elongatemember which is coaxial with that end when the part that includes thatcontrol is moved from the first to the second configuration. The endthat is prevented from sliding may be connected to the elongate portionat the location of the elongate portion that is coaxial with that end.

At least one control may be capable of moving in the longitudinaldirection of the elongate portion relative to the elongate portion whenthe part associated with that control is in the foot configuration andat least one end region of the control may cooperate with the elongateportion to restrict movement in at least one or both directions of theelongate extract.

At least one control may be located within the periphery of the elongateportion and may be in a central region of the control.

At least one control may be made of metal.

An actuator may be arranged to urge the first and second parts from thefirst and second positions at the same time and, when the first andsecond parts are in the foot configuration may be arranged to an equalbias on the paste to urge them away from the first configuration.

Any of the aspects of the invention may be combined.

Each of the embodiments of the retractors shown may be operated asdescribed in relation to FIGS. 1 to 4. Accordingly only the differenceswill be described. In addition, each retractor is able to have astraight configuration to enable the retractor to be inserted or removedand only the second configurations are shown in which each adjacentsegment abuts each other to inhibit further bending.

In FIG. 5 there are four segments 3 adjacent to the hollow rod 7 andfour at each of the further corners. Long segments 22 and 24 extendbetween the short segments and a longer segment 26 has its tip 20extending back under the rod 7. Ideally the tip 20 should be concealedin the view shown by the hollow rod.

This arrangement has advantages over the segmental arrangements shown inFIGS. 2 and 3 in that no twisting of the retractor about the shaft 7occurs if the retractor is urged in a direction out of the plane shownor into the plane shown. In addition at least part of the tip 20 isconcealed by the rod 7 or can trail the rod 7 thus effecting lesstrauma.

FIG. 6 has the same general shape of that of FIG. 5. However the shaft 7includes a further control cable 28 that is connected to the tip 30 ofthe elongate portion. The cable exits the shaft 7 just short of thefirst series of segments.

In use, either before the segments are tensioned by the wires 10 to takeup the configuration shown, or after, or during at least part of thattensioning or any combination thereof the control cable 28 is tensionedto draw the tip 30 towards the shaft 7. A recess 32 may be provided inthe shaft 7 in which the tip 30 may be drawn into and held by the cable.

This configuration allows greater force to be applied with less traumabeing provided than that of FIG. 5. In addition the retractor can beurged in either direction to equal advantage as the configuration issymmetrical from the front and back.

Whilst the angles that the short segment of FIGS. 5 and 6 allow theretractor to turn are approximately 45°. 135° and 135° respectively theembodiment of FIG. 7 is more complicated.

In FIG. 7, starting from the rod 7, four short segments 3 allow the nextlong segment 32 to extend at 90° to the extent of the rod. Then sixshort segments 3 cause an even longer segment 34 to extend back towardsthe rod 7 at an angle of 45° to the rod. Then two short segments causethe “shortest” long segment 36 to cross over the rod 7, possibly incontact therewith, before two further short segments cause a furtherturn of 45° for the next long segment 38. Then eight short segments 3cause a further turn of 180°. This brings two long segments 40 and 42back over the rod 7 with the end of the segment 42 being tucked underthe long segment 34.

The long segments 40 and 42 are connected by angled faces that allow thesegment 40 to be inclined upwardly as it extends towards the rod withthe segment 42 being inclined downwardly as it extends away from the rod7. The movement of the segments 40 and 42 can be coordinated to takeplace as the end of the instrument moves back over the shaft towards thesegment 34. Alternatively the segments 40 and 42 may be fixed togetherto form an angled suit such that they can not move relative to eachother. The segments 40 and 42 may be urged against the long segment 32and the short segments 3 adjacent to the rod 7 as the segments 40 and 42are being moved into place such that relative flexure of those partsoccurs. When the joint between the segments 40 and 42 pass the segments3 adjacent to the rod they spring back to allow the segment 42 to passbeneath the segment 34 and to maintain the shape shown under flexurewith those parts crossing the rod being urged against the rod.Furthermore, that binding force may also cause the segment 36 to bebiased. The biasing forces may be assisted by the angled slope of thesegment 42 sliding along the segment 34 and pushing further against thesegment 34 as the segment 42 slides further beneath the segment 34.

The configuration of FIG. 7 affords stability and strength in eitherdirection. Furthermore trauma is reduced because of the considerablecross sectional area provided by the retractor or both sides of theshaft 7.

Although not shown in the drawing of FIG. 7, the end segment 42 may beconnected to the shaft 7 by a control cable. The control cable may betensioned to assist in the retractor leaving the straight configuration.As the wires tension the segments and as the retractor takes up theshape shown the cable may be tensioned or relaxed to assist in the shapebeing taken up.

As the retractor crosses the rigid rod in FIGS. 5 and 7 (and as theretractor is fixed in FIG. 6) when the rod is urged towards a liver withthe cross parts being located between the rod and liver a rigidretractor is provided with a broad area of even force being applied.

Whilst the above described instruments are retractors it will beappreciated that the instrument could be other than a retractor or may,for instance, have a tool operating from the end such as a cutter or agripper of a suture.

As shown in FIGS. 8 and 9, the turbine 110 includes an inner core 118 inthe form of a trumpet and an outer fairing 120. The surfaces of the coreand fairing that face each other include ceramic tiles 122 that aresubject to extreme heat.

The fairing 120 is provided with a series of entry ports 124.

In use, the instrument 112 is inserted through one of the ports 24 in astraight configuration, as shown in FIG. 9 with the instrument beingthreaded through a short tube 126 of the control 116.

The upper, proximal end of the instrument includes a tube 128 thatslides through the control tube 126 and projects a short distance fromthe control tube. A line 130 extends along the outside of the instrumentfrom the bottom of the tube 128 to the distal, end segment 114 n asshown in detail in FIG. 19. This line 130 assists in the instrumenttaking up its shape. The line 130 is then tensioned to bring theinstrument into the shape shown in FIG. 10. It will be appreciated thatthe turbines can have a diameter of 4 m and consequently the instrumentscan have a considerable weight. The line 130 places the instrument in aposition at which a control wire 132, to be described later, can turnadjacent segments relative to each other with a good mechanicaladvantage.

In the position shown in FIG. 10 adjacent segments 114 d, 114 e and 114f are brought into their final relative positions by the tension of theline 130.

The control wire 132 that connects each segments it then tightened and,at the same time or before or after or with an overlap of control of theline 130 and the wire 132, the line 130 is released slightly so that theinstrument reaches the position shown in FIG. 11. In this position thesegments 114 c and 114 d are in their final relative position.

From the position shown in FIG. 11 the line 130 is released further andthe wire 132 is further tightened in the way described above in relationto the movement from FIGS. 10 to 11 to reach the position shown in FIG.12. In this configuration the adjacent segments 114 a to 114 i are allin their final relative configuration.

Further tensioning of the control wire 132 and the slackening of theline 130 in the way described in relation to the movement from FIGS. 10to 114 leaves the instrument in the final configuration shown in FIGS.13 and 19. In this position the line 130 is slack and each adjacentsegment abuts each other and are unable to turn further. In addition thesegment 114 a has turned relative to the instrument tube 128 such thatfurther relative turning is prevented.

The line 130 and the control wire 132 may be coordinated to ensure thatthe instrument does not touch the tiles such that, for instance, withoutthe use of the line 130 the instrument would inevitably touch the tiles.

Thus a rigid instrument is provided. The operation of the instrumentwill be described later.

The segments will now be described in greater detail. It will beappreciated that not all segments need be the same length. Indeed it canbe seen in FIGS. 9 to 13 that the segments 14 a to 14 e are half thelength of the remaining segments.

As shown in FIGS. 15 to 17 adjacent segments are connected together by apin 134. One end of each segment includes a pair of spaced projectingflanges 136 and the other a central flange 138. The central flange 138is located between spaced flanges 136 of an adjacent segment and the pin134 extends through aligned openings 140 in the flanges 136,138. Thecombined extent of the flanges 136 and the flange 138 is ⅓ of themaximum width of the segment. However, that combined extent may be morethan 10 or more than 20 or more than 30 or more than 40% or less than 90or less than 80 or less than 70% of the maximum width.

Elongate spaced holes 142 extend down each side of the segments. Thecontrol wire 132 extends down one of the inclined holes 142 in adjacentsegments, around the end segment and then back through the other holes.The holes 142 are spaced from the pins 134. Consequently tension of thecontrol wire 132 causes relative rotation of adjacent segments about thepins 134 until adjacent planar faces 144 abut each other, as shown inFIG. 16.

For weight reduction each side of each segment includes an elongateopening 146. Furthermore, as shown in FIG. 17, whilst the exteriorcross-section is circular the interior cross-section is thicker at thelower portion where the hinges are located and where the maximum forceswill be experienced than at the top portion with the thicknessdecreasing from a lower region, then to the side middle regions to thethinnest top region.

As shown in FIG. 18, each segment includes an elongate opening 148 atthe top and bottom.

It can be seen from FIG. 17 in particular that the segments provide aclear operating corridor 150 along the complete length of theinstrument. A flexible cord 152 having a camera 154 at the distal tipcan be located in the corridor. The tip of the cord 152 having thecamera can be bent by a camera operator at the control 116 to extend outthrough the opposed elongate openings 148 in each segment. In this waythe tiles 122 on both the inner core 118 and fairing 120 are able to beviewed for damage such as cracks, for instance. Damaged tiles can bereplaced. Viewing may be manual or may be automated.

It will be appreciated that the present invention is not restricted tothe inspection of damaged tiles and the interior of any machine could beinspected by an inspection member, which may not necessarily be acamera, inspecting through the side of a carrier.

The camera 152 may be located at the distal region of the segments whenthe instrument is inserted into the turbine and pulled back undertension. Alternatively the camera 154 may be inserted into the segmentsafter they have taken up the inspection configuration shown in FIGS. 13and 19 in which case the inspection can take place as the cameraadvances or, alternatively, the camera can be inserted to the end of theinstrument and then pulled back to make the sequence of inspections.

The cord can then be indexed, either by retraction from the corridor orby advancement through the corridor with the camera being alternatelyextended through each opening 148 of each segment.

It will be appreciated that the camera may be advanced at differentdistances from different openings. Furthermore, the camera, once throughan opening 148, can view at least partially rearwardly, at leastpartially forwardly or at least partially to at least one side or anycombination thereof, possibly by further manipulation of the camera oncethrough the opening.

The control 116 comprises a housing 156 shown in FIG. 19 that is clampedto one of the entry ports 124. At the same time, or subsequently, ahousing may be clamped to the other entry ports 124. In this way thecomplete periphery of the tiles is visible.

The control tube 124 that is fast with the housing extends both into theturbine and upwardly beyond the housing at an angle to the perpendicularof the surface that the housing is attached to.

As shown in FIG. 19 the line 130 is controlled by a winding reel 158.The control wires are tensioned or slackened by a hollow threaded member160. The cord 152 of the camera is fed through the hollow threadedmember 160.

The manipulation of the camera tip is well known and is effected bypulling articulation cables 162 shown in FIG. 20 to cause the tip tomove from a straight position to a curved position as indicated by thearrow 164. Fibre optic cables within the cord 152 carry the images ofthe camera to a control.

The control may include actuators that control the operation of the line130, the control wire 132 and the location of the cord 152 and operatingthe camera 154. The control may automatically sequence the operation ofany one or more of the actuators.

FIGS. 21 a-i are sequential views showing how the configuration of FIG.7 is formed when the wire 10 is pulled. The first part of the instrumentthat bends is the proximal part between the rod 7 and the long segment32 that changes shape from FIGS. 21 a to 21 b to 21 c. When the shortsegments 3 abut each other to prevent further rotation at that locationthe adjacent short segments then cause the shape to change from FIGS. 21c to 21 d. It can be seen that further tightening causes turning of theinstrument to progress towards the proximal end possibly with abutmentof distally located segment prior to adjacent proximal segmentscommencing to turn or possibly with a partial turn of distal segmentsprior to adjacent proximal segments commencing to turn.

It can be seen though that there is no control over how and when eachsegment commences to turn. Further, there is a large sweep when movingfrom FIGS. 21 a to 21 i, for instance, which may not be acceptable whenusing the instrument as a surgical retractor or when using theinstrument as a tool to cooperate with a machine such as an applicationas described in relation to FIGS. 8 to 20.

FIGS. 22 a to i start and finish with the same configuration as that ofFIGS. 21 a and 21 i when the wire 10 is progressively tightened. Howeverthe turning sequence is controlled. When the instrument is in theposition shown in FIG. 22 a, the force exerted on all segments urgingthem from the in line position may be equal.

The first turn occurs at the distal end with the short segments 3between the long segments 40 and 38 moving from the configuration ofFIGS. 22 a to 22 d. When those segments 3 but each other or beforeabutment occurs the segments 3 between the long segment 38 and the longsegment 36 start to turn to change the configuration from that of FIGS.22 d to 22 e. Again when those segments 3 may abut each other or beforethey abut each other the adjacent distal segments start to turn. Suchprogressive successive turning of adjacent distal segments continuesuntil the configuration of FIG. 22 i is arrived at.

It can be seen that the change from FIGS. 22 a to 22 i involves onlysweeping a very small area. This control is advantageous when using theinstrument as a surgical instrument and when using the instrument as atool such as that described in relation to FIGS. 8 to 20. For instancelooking at FIG. 14 it may be that adjacent proximal segments could becaused to turn first rather than adjacent distal segments.

FIGS. 23 to 26 show how the control is applied. Long segments 34, 36, 38and 40 are shown as in FIG. 7. However there may be a different numberof short segments.

In FIGS. 23 and 24 the wire 10 that is pulled to turn the segments isnot shown.

A control member 200 is connected, through the segments 3 and the longsegments 38 and 40, to the distal end 40. Further control members 202extend from the long segment 36, through the segments 3, to the longsegment 34.

When the wire 10 is tightened to cause turning of the segments thecontrol members 200 and 202 must also turn thus affording resistance tothe turning (and also in due course assisting in the return of thesegments to the configuration shown). The member 200 may be of the samematerial and/or may be of a slightly smaller diameter than each of themembers 202. Accordingly the members 202 afford greater resistance toturning and the distal segments between the long segments 36 and 40 willstart to turn first.

Either when all of the segments with the member 200 extendingtherethrough abut each other or shortly before that, the segments 3 withthe members 202 extending through them will start to turn, overcomingthe resistance afforded by the members 202.

Only one end of the members 202 is shown. They are provided at each endwith enlarged heads 204. This stops the members 202 from moving out ofthe segments that they control. It also allows for the members to bestraight and curved without the heads abutting the segments to restrictturning as the distance between the heads at each end is greater thanthe distance that they occupy when the segments are at their limit ofturning. Abutment of the segments may limit the extent of a turn.Alternatively or additionally abutment of the heads 204 at each end ofone or both members 202 with segments at the end of a portion that isbeing controlled may limit the extent of a turn.

The control members comprise spring steel or a memory metal such asNiTiNoL which may comprise Ni:Ti 50:50 Nickel Titanium alloy. Whilst themembers 200 and 202 are shown as being of the same or similar diameterand material they may be of different material. Alternatively they maybe of different cross sectional dimensions such as of differentdiameters. Alternatively the members 202 may be connected along theirlength.

FIGS. 25 and 26 show the location of the wire 10 and the control member200.

Referring back now to FIGS. 22 a to g, the resistance of the controlmember or members 200, 202, 204 and 206 progressively increases.However, if desired, the control members could be arranged in an ordersuch that 200 affords the greatest resistance, then 204, then 202 andthen 206. In this manner the sequence of movement of any bendable membercan be controlled.

FIGS. 27 a to e show an inspection instrument 300 having three regions302, 304 and 306 each of which can be curved or straight. The instrumentincludes a tool 308 at the distal end that is required to inspectmaterial external members 310 and 312 of a machine 314. The resistanceof control members is weakest through the region 302, greater at region304 and greatest at region 306. Accordingly tensioning the wire 10 (notshown) allows a right angle turn to be effected at the region 302, asshown in FIG. 27 b with the distal end of the instrument then beinginserted through an opening 34 of the machine. Further tensioning thencauses the region 304 to move through 90°, opposite to the first turn,to allow the wall 310 to be inspected before final tensioning causes theregion 306 to move through 90°, opposite to the previous turn, to allowthe wall 312 to be inspected as shown in FIG. 27 e.

Removal of the instrument is a reverse of that sequence with the controlmembers ensuring that first region 306 is straightened, then region 304and finally region 306.

The control members could be applied to FIGS. 1 to 3. For instance acontrol member 200 affording low resistance could be located throughsegments at the distal region, causing that region to turn first, with astiffer control member 202 extending through segments at a proximalregion.

Similarly in FIGS. 5 and 6, the control member 200 may afford lessresistance than the control member 202.

Likewise control of the segments shown in FIGS. 9 to 20 could beeffected by locating different resistance control members alongdifferent lengths to enable maneuvering of the instrument in the tightspace easier and/or to allow the appropriate parts to be accessed andinspected by the control members causing the required sequentialmovement on tightening or releasing the wire or wires that move thesegments.

Attention is directed to all papers and documents which are filedconcurrently with or previous to this specification in connection withthis application and which are open to public inspection with thisspecification, and the contents of all such papers and documents areincorporated herein by reference.

All of the features disclosed in this specification (including anyaccompanying claims, abstract and drawings), and/or all of the steps ofany method or process so disclosed, may be combined in any combination,except combinations where at least some of such features and/or stepsare mutually exclusive.

Each feature disclosed in this specification (including any accompanyingclaims, abstract and drawings) may be replaced by alternative featuresserving the same, equivalent or similar purpose, unless expressly statedotherwise. Thus, unless expressly stated otherwise, each featuredisclosed is one example only of a generic series of equivalent orsimilar features.

The invention is not restricted to the details of the foregoingembodiment(s). The invention extends to any novel one, or any novelcombination, of the features disclosed in this specification (includingany accompanying claims, abstract and drawings), or to any novel one, orany novel combination, of the steps of any method or process sodisclosed.

1. An instrument including an elongate portion having a first partmovable from a first configuration to a second, different configurationand a second part, at a different elongate extent along the elongateportion than the first part, movable from a first configuration to asecond, different configuration, at least one of the parts including acontrol whereby a force required to move the first part from the firstconfiguration towards the second configuration is less than the forcerequired to move the second part from the first configuration towardsthe second configuration.
 2. An instrument as claimed in claim 1 inwhich at least one control includes a flexible member arranged to exerta bias against movement of the part that includes that control from thefirst to the second position.
 3. An instrument as claimed in claim 1 inwhich at least one end of at least one control is arranged to slide inthe longitudinal direction relative to a portion of the elongate memberwhich is coaxial to that end when the part that includes that control ismoved from the first configuration towards the second configuration. 4.An instrument as claimed in claim 3 in which at least one end of atleast one control is prevented from sliding in the longitudinaldirection relative to a portion of the elongate member which is coaxialwith that end when the part that includes that control is moved from thefirst configuration towards the second configuration and in which theend that is prevented from sliding is connected to the elongate portionat the location of the elongate portion that is coaxial with that end.5. An instrument as claimed in claim 1 in which at least one control iscapable of moving in the longitudinal direction of the elongate portionrelative to the elongate portion when the part associated with thatcontrol is in the first configuration and in which at least one endregion of the control cooperates with the elongate portion to restrictmovement of the control in both directions of the elongate extent.
 6. Aninstrument as claimed in claim 5 in which the distance between the endregions of the control that restrict sliding movement of the control isarranged such that they do not simultaneously cooperate with theelongate portion when the part that includes that control is moved fromthe first towards the second configuration.
 7. An instrument as claimedin claim 5 in which the distance between the end regions of the controlco-operate with the elongate portion when the part that includes thatcontrol moves to the second configuration whereby the distance betweenthe end regions defines the limit of movement from the firstconfiguration to the second configuration.
 8. An instrument as claimedin claim 1 in which each part includes a control whereby the forcerequired to move the first part from the first configuration towards thesecond configuration is less than the force required to move the secondpart from the first configuration towards the second configuration. 9.An instrument as claimed in claim 1 in which the or each control isarranged to assist in returning the first and second parts from thesecond configuration towards the first configuration.
 10. An instrumentas claimed in claim 9 in which the second part is arranged to start tomove from the second configuration towards the first configuration at agreater force than the force required to allow the first part to startto move from the second configuration towards the first configuration.11. An instrument as claimed in claim 1 in which the elongate portionincludes at least three parts at different elongate extents along theelongate portion each movable from a first to a second, differentconfiguration each having a control in which a force required to movethe parts from the first towards the second configuration is differentin the at least three parts.
 12. An instrument as claimed in claim 1including an actuator arranged to urge the first and second parts fromthe first to the second positions, the actuator comprising at least onewire extending along the elongate portion which wire is arranged to betightened to effect movement from the first to the second configuration.13. An instrument as claimed in claim 12 in which the actuator isarranged to urge the first and second parts from the first to the secondconfiguration at the same time and, when the first and second parts arein the first configuration, to exert an equal bias on the parts to urgethem away from the first configuration.
 14. An instrument as claimed inclaim 1 in which at least the first part includes at least a gap along aside of the elongate portion which gap, in use, is arranged to be atleast partially closed when the first part is moved from the firsttowards the second configuration.
 15. An instrument as claimed in claim14 in which the or each gap of that part is arranged to be at leastpartially closed before the second part starts to move from the firsttowards the second configuration.
 16. An instrument as claimed in claim15 in which the or each gap of the first part is arranged to becompletely closed before the second part starts to move from the firsttowards the second configuration.
 17. An instrument as claimed in claim14 in which the or each gap is defined between two, separate segments.18. An instrument including an elongate portion comprising: a first partmovable from a first configuration to a second, different configuration;and a second part at a different elongate extend along the elongateportion than the first part movable from a first to a second, differentconfiguration, at least one of the parts including a control, saidcontrol including a flexible member arranged to exert a bias againstmovement of the part that includes that control from the first to thesecond position, said control operating such that a force required tomove the first part from the first configuration towards the secondconfiguration is less than the force required to move the second partfrom the first configuration towards the second configuration and suchthat the second part is arranged to start to move from the secondconfiguration towards the first configuration at a greater force thanthe force required to allow the first part to start to move from thesecond configuration towards the first configuration; the instrumentfurther including an actuator, said actuator being arranged to urge saidfirst and second parts from the first to the second positions, theactuator comprising at least one wire extending along the elongateportion which wire extends along the elongate portion which wire isarranged to be tightened to effect movement of the parts from the firstto the second configurations.
 19. A method of using an instrumentcomprising causing at least first and second parts of an elongateportion that are axially spaced from each other along the elongateportion to move from a first configuration to a second, differentconfiguration and causing the first part to move from the firstconfiguration towards the second configuration and then the second partto start to move from the first configuration towards the secondconfiguration by the first part being less resistant to a force causingmovement from the first configuration to the second configuration than aforce causing the second part to move from the first configurationtowards the second configuration.
 20. A method claimed in claim 19comprising, when the first and second parts are in the secondconfiguration, reducing the force simultaneously on each part holdingthem in that configuration and causing the control in at least one partto cause the second part to start to move from the second configurationtowards the first configuration before the first part starts to movefrom the second configuration towards the first configuration.